#include <aversive.h>
+#include <aversive/wait.h>
struct servo {
uint8_t bit;
static struct servo servo_table[] = {
{
- .bit = 0,
- .command = 0,
+ .bit = 2,
+ .command = 300,
+ },
+ {
+ .bit = 3,
+ .command = 700,
},
{
- .bit = 1,
+ .bit = 4,
.command = 512,
},
{
- .bit = 2,
- .command = 1023,
+ .bit = 5,
+ .command = 512,
+ },
+ {
+ .bit = 6,
+ .command = 512,
+ },
+ {
+ .bit = 7,
+ .command = 512,
},
};
#define NB_SERVO (sizeof(servo_table)/sizeof(*servo_table))
-static volatile uint8_t bypass;
+static uint8_t bypass;
static volatile uint8_t done;
-static volatile uint8_t portval;
-static volatile uint8_t rxidx;
+static uint8_t portval;
+static uint8_t rxidx;
#define BYPASS_ENABLE 14
#define BYPASS_DISABLE 15
+#define LED_ON() do { PORTB |= 0x02; } while(0)
+#define LED_OFF() do { PORTB &= ~0x02; } while(0)
+
/*
* SPI protocol:
*
* Command 14 is to enable bypass mode.
* Command 15 is to disable bypass mode.
*/
-static volatile union {
+static union {
uint8_t u8;
struct {
/* inverted: little endian */
};
} byte0;
-static volatile union {
+static union {
uint8_t u8;
struct {
/* inverted: little endian */
SIGNAL(TIMER1_COMPA_vect)
{
- PORTC = portval;
+ PORTD = portval;
TIMSK1 &= ~_BV(OCIE1A);
done = 1;
}
uint8_t t, diff;
/* LED */
- DDRB = 0x20;
+ DDRB = 0x02;
- /* servo outputs */
- DDRC = 0x7;
+#if 0 /* LED debug */
+ while (1) {
+ LED_ON();
+ wait_ms(100);
+ LED_OFF();
+ wait_ms(100);
+ }
+#endif
+
+ /* servo outputs PD2-PD7 */
+ DDRD = 0xfc;
/* start timer1 at clk/1 (8Mhz) */
TCNT1 = 0;
}
/* bypass mode */
while (bypass == 1) {
- PORTC = PORTB;
+ LED_ON();
+ PORTD = (PINC & 0x3f) << 2;
+ poll_spi();
}
+ LED_OFF();
}
return 0;